Kinematic and Adaptive Dynamic Trajectory Tracking Controller for Mobile Robots

FELIPE MARTINS; WANDERLEY CELESTE; RICARDO CARELLI; MARIO SARCINELLI FILHO; TEODIANO FREIRE BASTOS

Buenos Aires

Conferencia; International Modeling and Simulation Multiconference, AVCS 2007; 2007

Universidad de Buenos Aires, Laboratoire des Sciences de l´Information et des Sistemes

This paper addresses the design of an adaptive controller to guide a unicycle-like mobile robot while tracking a trajectory. The controller is designed considering the complete dynamic model of the robot, and consists of two parts. The first one is based on the kinematic model of the robot, and plays the role of generating the desired linear and angular velocities values. These desired values are the inputs to the second part, which compensates the robot dynamics and generates the linear and angular velocities commands to the robot. The parameters representing the robot dynamics are updated on-line so that the controller adapts itself to the robot dynamics. This provides smaller errors and better performance in case of parameter uncertainties, such as load changes for different tasks. A proof of the stability of the whole control system is presented. Experimental results show the good performance of the proposed controller for trajectory tracking and robot positioning.